Yamaha DRCX, Руководство пользователя

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ROBOT LANGUAGE
8-4 Robot Language Description
8-4-38 MOVL
Function: Moves to the position specified by a point number (absolute position
with respect to the origin) in a linear interpolation motion.
Format: MOVL <point number>,<maximum speed>
Example: MOVL 500,100
Moves to P500 at speed 100.
Explanation: This command moves the robot on absolute coordinates with the origin
set to 0, while controlling the locus of linear interpolation.
(1) Point number
The point number is a number assigned to each point from 0 to 999
(1000 points), and used to create point data in point mode. When a
character "P" is entered here for special use, a point variable defined
by the "P" statement is set as the point number. (Refer to "8-4-12
P".)
(2) Maximum speed
The maximum speed can be set to any value from 1 to 100 (100
steps). When the execution speed in OPRT mode is 100, then 100
will be equal to a speed of 1000mm/s (when PRM64 and PRM104
are set to 3000 and the ball screw lead is 20mm)
Others: • The robot does not stop and continues operating when the MOVL
state ment and MOVC statement are consecutively written.
• The MOVL and MOVC statements execute advanced reading (execute
the steps that follow interpolation motion). Therefore, to issue the DO
output after the end point of the interpolation motion is reached, the
DO statement should be written after the MOVA statement following
the MOVL and MOVC statements. In this case, set the specified point
for MOVA to the same point as the end point of the MOVL and MOVC
statements. (Specifying any speed is okay.)
The same operation can be performed by writing WAIT 140,1 and
WAIT 141, 1 instead of the MOVA statement.
• When the last movement command in the program is for interpolation
motion, the DO output may be turned off during movement due to the
advanced reading. If this happens, add the MOVA statement after the
last interpolation motion as explained above.
• Interpolation motion cannot resume even if it is not yet finished.
So, if interpolation motion is stopped by an interlock signal, the pro-
gram should be reset and restarted from the beginning.
• Linear interpolation motion cannot be performed on SCARA robots
which do not operate on a Cartesian coordinate system.
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